A Novel Magnetic Transmission for Powerful Miniature Surgical Robots

Abstract

Untethered magnetically actuated robots present significant advantages for biomedical applications by allowing power to be delivered wirelessly to remote, miniature robots through flesh and bone. Nevertheless, generating enough usable force to interact with their environment remains a challenge: Most millimeter-size magnetic robots achieve forces of much less than 0.1 N, which limits their medical applications. Therefore, a compact, millimeter-scale transmission is needed to amplify the output force. A novel microtransmission system is presented, composed of a driving magnet suspended between two twisted string actuators. An analytical model of the transmission is formulated to predict its behavior under both fixed load and fixed displacement configurations. Experimental measurements are used to validate the predicted maximum achievable force, to quantify the transmission performance over numerous cycles, to determine the effect of different string materials, and to determine the impact of hysteresis and viscoelasticity. Finally, the transmission is integrated into a 3 mm diameter surgical gripper prototype to demonstrate its effectiveness. With only a modest 20 mT of applied magnetic field, the gripper generates 1.09 N gripping force—a factor of 35 improvement in mechanical advantage and a factor of 62 improvement in gripping force compared to a similar size gripper using direct magnetic actuation. This microtransmission for miniature magnetic robots will enable high-strength untethered robots for minimally invasive surgical applications.